Making your child a partner in creating the routine is a great way to empower them, increasing their feeling of control and autonomy. Whenever you see that a new routine needs to be created or updated (for example, when a new school year starts, and sports seasons starts, one parents goes away for work, or you notice that mornings aren't working well), enlist your children in designing it.
List what needs to happen together
What order do they go in? how long does each take?
Notice pinch points and problem-solve together
What supplies are needed at each step?
Who is responsible for what?
When you've agreed, draw or write the new schedule. Let your child lead as much as possible, celebrate the awesome schedule they make, and then hang it in a visible place to refer to as you go through your days.